CN106423322B - Pipette tip and sucker system - Google Patents
Pipette tip and sucker system Download PDFInfo
- Publication number
- CN106423322B CN106423322B CN201510870010.5A CN201510870010A CN106423322B CN 106423322 B CN106423322 B CN 106423322B CN 201510870010 A CN201510870010 A CN 201510870010A CN 106423322 B CN106423322 B CN 106423322B
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- Prior art keywords
- capillary
- sample
- pipette tip
- connector
- section
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/02—Burettes; Pipettes
- B01L3/021—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids
- B01L3/0217—Pipettes, i.e. with only one conduit for withdrawing and redistributing liquids of the plunger pump type
- B01L3/022—Capillary pipettes, i.e. having very small bore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/02—Burettes; Pipettes
- B01L3/0275—Interchangeable or disposable dispensing tips
Abstract
It is capable of the pipette tip of the quantitative collection of sample easy to accomplish the present invention relates to one kind and including the sucker system of the pipette tip, suction pipe of the invention includes: sample collection unit (110), capillary (111) are formed along its length, are achieved in the importing of sample；Cylinder (120), is formed with the Storage of sample room (122) for saving the sample, and the Storage of sample room is connected to by discontinuous section (121) with the capillary (111).
Description
Technical field
It is capable of the pipette tip of the quantitative collection of sample easy to accomplish the present invention relates to one kind and including the suction pipe of the pipette tip
System, in particular, being related to a kind of pipette tip for capableing of quantitative collection relatively high capacity liquor sample using capillary, and utilizing should
Pipette tip acquisition liquor sample and the sucker system for being able to carry out conveying and dispensing.
Background technique
The pipe thin made of glass or plastics that suction pipe (pipette) refers to measurement or uses when dispensing liquid, root
There are pipette (whole pipet), dropper, pasteur pipet, automatic pipet(te) etc. according to different purposes.
When carrying out clinical immunoassays for quantitative collection sample and mixed and dispensed and using suction pipe (pipette)
End.It tests to carry out analysis testing crew by using with the pipette tip that matches of capacity that carries out quantitative collection.
It develops at present and has popularized the automation equipment that can be much easy and largely carry out this hand inspection.
So-called automation equipment refer to by be input to internal program be able to carry out automatically processing more than once (point
Note, pretreatment) clinical examination equipment.The shortcomings that this automation equipment, is the equipment to acquire the required examination of measurement
The amount of sample and need acquire be equivalent to required sample decades of times amount sample.
For a specific example, for examining and measuring the automation equipment of protein in blood of human body etc., in order to
It examines and needs to acquire the venous blood of 5mL or more and taken care of and test in certain pipe, but be actually used in measurement
Blood amount as long as 10 μ l or so enough, and in automation equipment only in blood tube equipped with number mL blood ability
Enough realize automatic collection.The blood of 10 μ l or so can be acquired and use using blood capillary in finger tip, and in automation equipment
In be not available this blood capillary, also, be difficult to the patient that blood was collected for infant and because blood vessel is deep, it will adjoint
The difficulty of psychological pain and blood sampling itself caused by blood sampling.
Existing technical literature
Patent document
Granted patent announces No. 10-1510823 (day for announcing: on April 13rd, 2015)
Summary of the invention
(1) technical problems to be solved
It is an object of the invention to solve above-mentioned problems of the prior art, provide a kind of in the feelings for not utilizing suction pipe
Also it is capable of the pipette tip of a small amount of sample of quantitative collection under condition, and preprocessing solution can be readily achieved using the pipette tip
With the pretreated sucker system of mixing of sample.
(2) technical solution
Pipette tip of the invention for achieving the above object includes: sample collection unit, forms capillary along its length
Pipe, is achieved in the importing of sample；And cylinder, it is formed with Storage of sample room, the Storage of sample room passes through discontinuous section
It is connected to the capillary.
Preferably, which is characterized in that the inclination angle of described discontinuous section and capillary is 45 ° or more.
Preferably, which is characterized in that the capillary has the first capillary and area of section and first capillary
The second different capillary of pipe.
Preferably, which is characterized in that the cross section of the capillary is long hole shape or cross shape.
Secondly, sucker system of the invention includes: pipette tip, has and form capillary along its length and realize sample
Importing sample collection unit, be formed through the cylinder of the Storage of sample room that discontinuous section is connected to the capillary；
And handle apparatus, it fixes, can be adjusted by the pressure source driven by electric control signal described with the end of the cylinder
Pressure in pipette tip.
Preferably, the handle apparatus includes: connector, is formed through the flow path to be formed, thus with the cylinder
Opening portion insertion assembling；Pump can be adjusted in pipette tip according to from externally input electric control signal, and by the connector
Pressure.
It is highly preferred that the handle apparatus includes: guidance unit, where pipette tip region and kit
(cartridage) movement of the connector is guided between the region where；Driving unit generates use along the guidance unit
Driving force in the position for operating the connector；Control unit generates the driving of the control pump and the driving unit
Electric control signal.
(3) beneficial effect
Pipette tip of the invention includes the sample collection unit for being formed with capillary, and is formed with discontinuous section
And the main unit from the Storage of sample room that capillary apex is expanded, to utilize the capillary designed and produced with certain capacity
Pipe is able to carry out the quantitative collection of sample, thus has the effect that diagnosis is also able to carry out for a small amount of sample of blood capillary etc
Fruit.
The pipette tip of the prior art itself does not have the function that can attract quantitative sample, thus uses and utilizes suction pipe
Set volume function sets the mode of the volume of the sample of acquisition, and in the present invention in the case where without using suction pipe
Can be in the quantitative collection of the liquor sample of pipette tip itself one constant volume of progress, therefore it is applied to the diagnostic device of automation
In, have the effect of being able to use a small amount of sample of blood capillary etc. to be diagnosed automatically.
Also, sucker system of the invention is using the pipette tip that can carry out the quantitative collection of sample by capillary phenomenon,
Thus have the effect of to conveniently realize the mixing and dispensing with reaction solution.
Detailed description of the invention
Fig. 1 is the sectional structure chart of pipette tip of the invention.
(a) to (f) of Fig. 2 is the figure for indicating the various embodiments of capillary profile of pipette tip of the invention.
Fig. 3 is the enlarged cross-sectional view of the sample collection unit for the other embodiments for indicating pipette tip of the invention.
(a) to (f) of Fig. 4 is the figure for illustrating the application method of pipette tip of the invention.
Fig. 5 is the structure chart of sucker system of the invention.
Detailed description of the invention label
100: pipette tip 110: sample collection unit
111: capillary 120: cylinder
121: section 122: Storage of sample room
310: connector 320: pump
410: movable frame 411: vertical ball screw
412: horizontal ball screw 420: control unit
500: transfer device 600: verification unit
Specific embodiment
The specific structure and functional explanation proposed in an embodiment of the present invention is simply to illustrate that this hair
The embodiment of bright concept and it is exemplary, the embodiment of concept according to the present invention it is implementable be various ways.Also, it cannot solve
It is interpreted as the embodiment of the invention being defined in illustrated in this specification, and should be understood as includes thought and technology model of the invention
Enclose all change object, equipollent or even the substitutes for being included.
In addition, though the first and/or second equal terms can be used for illustrating a variety of composition components in the present invention, but it is described
Composition component is not limited to the term.The term is to distinguish the purpose for forming component and another composition component
It uses, for example, the first composition component can be named as the second composition structure in the protection scope without departing from idea of the invention
Part, similarly, the second composition component can also be named as the first composition component.
When referring to that a composition component forms component " connection " or " engagement " with other, it is possible to form structure with other
Part is directly connected to or engages, it should be appreciated that is also possible to exist other composition components to be situated between.Another party
Face, when referring to that a composition component forms component " being directly connected to " or " directly contacting " with other, it should be understood that two
There is no other composition components among person.For illustrate form component between relationship "~between " and " just~it
Between " or " with~it is adjacent " and " directly with~adjacent " etc. statement should also be as in the same manner as explain.
Term used in the present specification simply to illustrate that specific embodiment and use, be not used to
Limit the present invention.Under the premise of not conclusivelying show the different meanings within a context, singular representation includes plural number
Representation.The term of " comprising " or " having " etc. is it should be appreciated that it is for illustrating to be implemented in the present specification
Feature, number, step, movement, composition component, accessory or these combination presence, rather than in advance exclude one or one with
On other features or number, step, movement, composition component, accessory or combinations thereof presence or it is additional a possibility that.
The present invention will be described in detail referring to the drawings.
As shown in Figure 1, pipette tip 100 of the invention includes: sample collection unit 110, capillary is formed along its length
111, it is achieved in the importing of sample；And cylinder 120, it is formed with the Storage of sample room 122 that can save sample, the sample
Preserving chamber is connected to by discontinuous section 121 with capillary 111.
Sample collection unit 110 may be integrally formed with cylinder 120, can be glass or plastic material, is not limited to
This, it is preferable to use rigidity (rigidity) strong material, so as not to can apply by outside power due to generate the variation of shape.
Also, in order to generate effective capillarity and hydrophilic material production sample collection unit can be used in sample
110, or the hydrophilic film of inner peripheral surface plating of the capillary 111 in sample collection unit 110.
Capillary 111 is formed there through along the length direction of sample collection unit 110, is saved from there through capillarity
Sample, the about desirable 5 μ l to 100 μ l of the capacity of acquisition.
111 size of capillary (diameter) can be determined in the range of being able to carry out the acquisition of sample by capillarity,
Preferably, capillary diameter about determines in the range of 0.5mm to 1.5mm.
Cylinder 120 can be integrally formed with sample collection unit 110, and the sample being connected to the front end of capillary 111 is arranged and protects
Room 122 is deposited, Storage of sample room 122 extends in such a way that opposite capillary 111 has discontinuous section 121 at this time, thus has
The diameter bigger than capillary 111.
The inclination angle of discontinuous section 121 of example and capillary 111 is right angle in Fig. 1, and when tiltangleθ be 45 ° with
When upper, be able to confirm that the liquor sample acquired by capillarity was filled only with to capillary 111, and tiltangleθ be 90 ° with
Even upper.
Storage of sample room 122 is formed through the center of cylinder 120, thus can realize the mixed of preprocessing solution and sample
It closes, it is preferable that there is from discontinuous section 121 along upper direction the inclined surface of cone shape.
As described above, the opening portion of 122 upper end of Storage of sample room expanded can with corresponding tapered surface from
Dynamic makeup, which is set etc., forms Lu Ersuo (luer lock) combination, it is preferable that the inner peripheral surface in Storage of sample room 122 can form ring-type
Engaging slot 123, so as to be combined with the prominent protrusion insertion being formed on the tapered surface of automation equipment.
The pipette tip 100 of the invention so formed can determine according to the volume of the capillary 111 of sample collection unit 110
Fixed correctly acquisition capacity.That is, determining the volume of capillary 111 according to the cross-sectional area of capillary 111 and height (L), adopt
Collect sample and passes through the capillary 111 below of capillarity filled section 121.
In addition, in the present invention based on the considerations of acquiring capacity various deformation can be carried out to the cross sectional shape of capillary.
For example, need correspondingly to make the length (L) of sample collection unit in long way to increase acquisition capacity, but in the present invention
In in order to large capacity acquisition capacity and the size of the cross-sectional area of capillary can be increased.
(a), (b), (c), (d) of Fig. 2 is the figure for indicating the various embodiments of capillary profile of pipette tip of the invention.
Referring to Fig. 2, capillary 111a can be circular cross-section (Fig. 2 (a)) or capillary 111b can be the hole of long hole shape
(Fig. 2 (b)).Also, capillary 111c of the invention can be cross-type shape (Fig. 2 (c)) or capillary 111d and can be
The circular arc with certain angle is overlapped on certain radius and the hole (Fig. 2 (d)) formed.
On the other hand, it is preferable that each capillary 111a, 111b, 111c, 111d are in the range that can produce capillarity
It is interior to be about scheduled on its size d (diameter or wide cut) between 0.5mm~1.5mm.
Another embodiment is lifted, Fig. 2 (e) indicates to be inserted into plug 112 in the capillary 111e with circular cross-section
State, at this point, the diameter d1 of capillary 111e itself can be set as being greater than embodiment (a) explained above, (b), (c), (d)
Value, at the same time can according to the effective dimensions d of the size of plug 112 can generate capillarity size (0.5mm~
It 1.5mm) is determined in range, to increase effective area of section, is achieved in the sample collection of large capacity.Fig. 2 (f) is again another
One embodiment indicates the state that plug 113 is inserted into inside the capillary 111e with quadrangular section structure.
Fig. 3 is the enlarged cross-sectional view of the sample collection unit for another embodiment for indicating pipette tip of the invention.
Referring to Fig. 3, in pipette tip of the invention, the capillary 211,212 for being penetratingly formed at sample collection unit 210 can be by
The first capillary 211 being formed on front end opening, and be connected to the first capillary 211 and area of section is narrower than first mao
Second capillary 212 of tubule forms.
On the other hand, it is preferable that the size (diameter or wide cut) of the second capillary 212 is scheduled on 1.5mm hereinafter, in order to
Capillarity is generated, it is highly preferred that the first capillary 211 is connect with the second capillary 212 by discontinuous section of 211a.
As described above, capillary is made of A between the first capillary zone and the second capillary interval B, and each section passes through
Discontinuous section connects, to be easy to carry out the large capacity design of pipette tip or the acquisition Capacity design and system of a variety of capacity
Make.
Specifically, referring to Fig.1, when the whole section of capillary 111 has the same diameter, the liquor sample of large capacity
Acquisition pipette tip and design capacity proportionally, the length of capillary 111 are made in long way, can have automating in this way
It needs to consider the problems such as generating interference because of the length of pipette tip when being applicable in pipette tip in analysis instrument.
Thus, as shown in figure 3, large capacity (50 μ l <) liquor sample acquisition pipette tip 200 can be designed in the present invention
It at such as flowering structure, i.e., is more than two sections by 211,212 points of capillary according to acquisition capacity, and make it in front end opening
Thus the entire length L1 of capillary 211,212 is being limited in certain length by the major diameter section with certain length L2
It can be realized required acquisition capacity while following.
(a) to (f) of Fig. 4 is the figure for indicating the application method of pipette tip of the invention.
As shown in Fig. 4 (a), sample 10 is acquired using pipette tip 100, sample 10 is adopted due to capillarity in sample at this time
Collect in the capillary of unit 110 and correctly realizes quantitative collection.
As shown in Fig. 4 (b), the pipette tip 100 for having acquired sample 10 is installed into (mounting) in the hand of adjustable pressure
On handle device.
Handle apparatus is by the connector 310 that is formed through the flow path formed and assembles with pipette tip 100, and passes through company
Positive pressure (positive pressure) or negative pressure (negative pressure) can be generated in pipette tip 100 by connecing device 310
320 composition of pump, connector 310 are the pipes of hollow shape, and the top insertion of the connector and pipette tip 100 assembles and passes through pipe
Road is connect with pump 320.
Secondly, by the negative pressure generated by handle apparatus, being stored in the sample collection of pipette tip 100 as shown in Fig. 4 (c)
The Storage of sample of unit 110 is to cylinder 120.
As shown in (d) of Fig. 4, (e), the pipette tip 100 for being mounted on handle apparatus is moved to preprocessing solution 20, and lead to
Composite sample 10 and preprocessing solution 20 are crossed to manufacture mixed liquor 30.At this point, the sample 10 of pipette tip 100 by pump 320 by being produced
Raw positive pressure is discharged to realize.
Secondly, mixed liquor 30 is sucked into pipette tip 100 again, and the mixed liquor 30 sucked can be in institute as shown in Fig. 4 (f)
It is dispensed on the position needed.At this point, mixed liquor 30 is sucked into pipette tip 100 by the negative pressure generated by pump 320.
Fig. 5 is the structure chart of sucker system of the invention.
As shown in figure 5, sucker system of the invention includes: guidance unit, the shift position for guidance connector 310；
Driving unit generates the driving force for operating the position of connector 310 along the guidance unit；Control unit, for controlling
The driving of pump and driving unit.
In the present embodiment, the module type that example connector 310 and pump 320 are integrally formed is arranged in the lower end of pump 320
Connector 310 simultaneously moves together position with connector 310.On the other hand, connector is connected by flexible hose and pump, thus may be used
The position of a moving connector is realized to run.
Guidance unit where multiple pipette tips 100 of quantitative collection liquor sample suction pipe end position (site) with
The position of guidance connector 310 is mobile between reagent box position where kit 21, in the present embodiment the vertical ball of example
Screw rod 411, the movable frame 410 for guiding and being in vertical motion by vertical ball screw 411 and horizontal arrangement are can
On dynamic frame 410 and guide the horizontal ball screw 412 for pumping the movement of 320 horizontal direction.
In the present embodiment, pipette tip 100 is contained in setting specified in the state of quantitative collection liquor sample
Rack 401 on position is simultaneously configured, and the side of transfer device 500 is arranged in kit 21.
Vertical ball screw 411 and horizontal ball screw 412 are rotatably arranged by well-known bearing, each
First drive motor 413 and second drive motor 414 of the setting for the rotation driving of ball screw on ball screw.
The driving of control unit 420 control pump 320 and the first drive motor 413, the second drive motor 414, specifically, control
Unit 420 processed can realize the position control of connector 310 by the first drive motor 413 of control and the second drive motor 414,
The pipette tip 100 that liquor sample is acquired by connector 310 is moved to kit 21, it thus can be by liquor sample and reagent
The preprocessing solution of box 21 is mixed or is dispensed.
On the other hand, during carrying out moving operation to pipette tip 100 and being mixed or dispensed, control unit
420 pairs of pumps 320 control, so that specified pressure can act in pipette tip 100, thus prevent in the process of moving
Liquor sample outflow, or can be mixed or be dispensed with preprocessing solution.
The kit 21 for completing to mix or dispense with liquor sample can be transferred to verification unit 600 by transfer device 500
And it tests.
Illustrate that guidance unit carries out biaxial movement vertically and horizontally in the present embodiment, it should be apparent that
Ground should be understood as to increase guide member and driving source with the direction vertically and horizontally mutually directly handed over, thus real
The movement of existing three axis directions.
Discussed above the present invention is not limited to the embodiment and attached drawing that front describes, without departing from skill of the invention
In the range of art thought, those skilled in the art is able to carry out various displacements, deformation and change.
Claims (6)
1. a kind of pipette tip, comprising:
Sample collection unit, forms capillary along its length, is achieved in the importing of sample；And
Cylinder is formed with Storage of sample room, and the Storage of sample room is connected to by first discontinuous section with the capillary,
The capillary has the first capillary being formed on front end opening, and is connected to and cuts with first capillary
Face area is narrower than the second capillary of first capillary, and first capillary and second capillary pass through second not
Continuous section connects.
2. pipette tip according to claim 1, which is characterized in that described first discontinuous section with the inclination angle of capillary
It is 45 ° or more.
3. pipette tip according to claim 1, which is characterized in that the cross section of the capillary is long hole shape or cross
Shape.
4. a kind of sucker system, comprising:
Pipette tip, have along its length formed capillary and realize sample importing sample collection unit, be formed with it is logical
Cross the cylinder for the Storage of sample room that first discontinuous section is connected to the capillary, the capillary, which has, to be formed in front end and open
The first capillary on oral area, and be connected to first capillary and area of section is narrower than the second of first capillary
Capillary, first capillary are connect with second capillary by second discontinuous section；And
Handle apparatus is fixed with the end of the cylinder, can be adjusted by the pressure source driven by electric control signal described
Pressure in pipette tip.
5. sucker system according to claim 4, the handle apparatus include:
Connector is formed through the flow path to be formed, and is thus inserted into and assembles with the opening portion of the cylinder；
Pump can adjust the pressure in pipette tip according to from externally input electric control signal, and by the connector.
6. sucker system according to claim 5, the handle apparatus include:
Guidance unit guides the movement of the connector between the region where pipette tip and the region where kit；
Driving unit generates the driving force for operating the position of the connector along the guidance unit；
Control unit generates the electric control signal of the driving of the control pump and the driving unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150110199A KR101713172B1 (en) | 2015-08-04 | 2015-08-04 | Pipette tip, and pipette system |
| KR10-2015-0110199 | 2015-08-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106423322A CN106423322A (en) | 2017-02-22 |
| CN106423322B true CN106423322B (en) | 2019-10-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510870010.5A Active CN106423322B (en) | 2015-08-04 | 2015-12-02 | Pipette tip and sucker system |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR101713172B1 (en) |
| CN (1) | CN106423322B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3533521B1 (en) * | 2016-10-28 | 2021-06-09 | Boditech Med Inc. | Pipette tip and pipette system |
| CN108246376A (en) * | 2018-03-19 | 2018-07-06 | 厦门汇川工贸有限公司 | A kind of novel quantitative inhales dropper |
| KR102572756B1 (en) | 2020-11-20 | 2023-08-30 | 바디텍메드(주) | A socket for for capillary tip desorption |
| KR102561174B1 (en) * | 2023-03-22 | 2023-07-28 | 엠비디 주식회사 | High-speed dispensing spotter for bio samples |
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| US4707337A (en) * | 1986-08-11 | 1987-11-17 | Multi-Technology, Inc. | Medical micro pipette tips for difficult to reach places and related methods |
| CN101437616A (en) * | 2006-05-03 | 2009-05-20 | Ncl新概念实验室有限责任公司 | Device and method for chemical, biochemical, biological and physical analysis, reaction, assay and more |
| CN101878430A (en) * | 2007-12-27 | 2010-11-03 | 株式会社堀场制作所 | Nozzle device and liquid sample analyzer |
| CN203044028U (en) * | 2013-01-31 | 2013-07-10 | 南京基蛋生物科技有限公司 | Quantifying straw |
| CN203408722U (en) * | 2013-07-02 | 2014-01-29 | 江苏康健医疗用品有限公司 | Quantitative suction dropper and sample cup employing same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01168350A (en) * | 1987-12-22 | 1989-07-03 | Sumitomo Electric Ind Ltd | Pipette chip and its attaching method |
| JP2007315793A (en) * | 2006-05-23 | 2007-12-06 | Neat:Kk | Pipette tip used for measuring sampled liquid, measuring method using pipette tip and measuring instrument |
| KR101510823B1 (en) | 2014-04-15 | 2015-04-13 | 포항공과대학교 산학협력단 | Pipette tip |
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2015
- 2015-08-04 KR KR1020150110199A patent/KR101713172B1/en active IP Right Grant
- 2015-12-02 CN CN201510870010.5A patent/CN106423322B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4707337A (en) * | 1986-08-11 | 1987-11-17 | Multi-Technology, Inc. | Medical micro pipette tips for difficult to reach places and related methods |
| CN101437616A (en) * | 2006-05-03 | 2009-05-20 | Ncl新概念实验室有限责任公司 | Device and method for chemical, biochemical, biological and physical analysis, reaction, assay and more |
| CN101878430A (en) * | 2007-12-27 | 2010-11-03 | 株式会社堀场制作所 | Nozzle device and liquid sample analyzer |
| CN203044028U (en) * | 2013-01-31 | 2013-07-10 | 南京基蛋生物科技有限公司 | Quantifying straw |
| CN203408722U (en) * | 2013-07-02 | 2014-01-29 | 江苏康健医疗用品有限公司 | Quantitative suction dropper and sample cup employing same |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101713172B1 (en) | 2017-03-08 |
| KR20170017051A (en) | 2017-02-15 |
| CN106423322A (en) | 2017-02-22 |
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